WO2019117416A1 - Dispositif de wagon automatique, procédé de commande destiné à un dispositif et procédé de construction utilisant le dispositif - Google Patents

Dispositif de wagon automatique, procédé de commande destiné à un dispositif et procédé de construction utilisant le dispositif Download PDF

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Publication number
WO2019117416A1
WO2019117416A1 PCT/KR2018/008163 KR2018008163W WO2019117416A1 WO 2019117416 A1 WO2019117416 A1 WO 2019117416A1 KR 2018008163 W KR2018008163 W KR 2018008163W WO 2019117416 A1 WO2019117416 A1 WO 2019117416A1
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WO
WIPO (PCT)
Prior art keywords
upper plate
auto
spiral
wagon
construction
Prior art date
Application number
PCT/KR2018/008163
Other languages
English (en)
Korean (ko)
Inventor
정명관
김석국
김영규
Original Assignee
(주)정도설비
정명관
이우형
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by (주)정도설비, 정명관, 이우형 filed Critical (주)정도설비
Priority to SG11202003311YA priority Critical patent/SG11202003311YA/en
Publication of WO2019117416A1 publication Critical patent/WO2019117416A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0075—Means for protecting the manipulator from its environment or vice versa
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
    • B25J9/009—Programme-controlled manipulators comprising a plurality of manipulators being mechanically linked with one another at their distal ends
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
    • B66F7/10—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported directly by jacks
    • B66F7/12—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported directly by jacks by mechanical jacks
    • B66F7/14—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported directly by jacks by mechanical jacks screw operated
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
    • F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
    • H02G3/00—Installations of electric cables or lines or protective tubing therefor in or on buildings, equivalent structures or vehicles
    • H02G3/30—Installations of cables or lines on walls, floors or ceilings

Definitions

  • the present invention relates to an auto-wagon device, a control method of the device, and a construction method using the device.
  • the utility module unit is aligned in the longitudinal direction in accordance with the construction, and each unit is joined (joined) A control method of the apparatus, and a construction method using the apparatus.
  • a clean or super-clean state such as a semiconductor fab, a TFT-LCD fab or PDP fab, or a pharmaceutical or food manufacturing plant, or a workshop or operating room that produces or assembles optical products
  • a clean or super-clean state such as a semiconductor fab, a TFT-LCD fab or PDP fab, or a pharmaceutical or food manufacturing plant, or a workshop or operating room that produces or assembles optical products. Since fine or ultrafine dust or mist has a great influence on the quality of the product, it is strictly cut off from the outside, and the temperature and humidity are kept within a predetermined range through constant temperature and humidity control
  • a clean room for preventing vibration is provided.
  • a semiconductor fab that produces silicon wafers is a large-scale facility with a super clean state, generally divided into a fab layer and a sub-fab layer thereunder.
  • a porous grating panel or a steel grating panel for supporting the equipment is provided between the fab layer and the sub- A waffle-slab, which is a lattice-structure concrete slab to be laid, is formed.
  • the semiconductor fab may be formed in a multi-layered structure.
  • the sub-fab layer may be divided into a clean sub-fab layer and a facility sub-fab layer in which a pipe rack is installed.
  • Conventional piping works in the fabrication of a semiconductor fab include installing a pipe rack on the floor in the above-mentioned clean sub-fab layer in the field, installing a passageway foot for installation, inspection and operation, (Base pipe building) that installs various gas and liquid transfer pipes and air conditioning ducts horizontally in the field in the pipe rack of the main piping from the POC (point of connection) of the basic piping to the fab layer (CMP) region, OX (oxidation) region, LITHO (photolithography) region, ETCH (dry etching) region, (Wet etching) region, TF (thin film) forming region, MP (metal deposition) region, IMP (ion implantation) region, DIFF (POC) of the basic piping and auxiliary equipment, pumps, VMP (valve manifold box) and cabinet located in the subfab layer of the equipment. Hook up operation is performed.
  • the basic piping operations and mooring operations described above can be used for electrical and electronic mooring and process cooling water piping, ultrapure water piping, argon, nitrogen, oxygen, helium, liquefied natural gas, For example, fluorine gas, various kinds of wet etching liquid piping, and / or air conditioning / air conditioning piping.
  • a pre-piping type rack module of JP 10-1466590 and a clean room construction method using the same (prior art 1), a piping module of JP-A No. 1901691489 and a piping module installation method (Prior Art 3) of a pipe-integrated module and a pipe-integrated module of Patent Publication No. 10-2017-0000278, and a pipe-lay structure using a prestressed precast concrete of Patent Publication No. 10-1505579 Or a beam-column junction structure and a method of constructing the same (prior art 4).
  • the present invention provides an auto-wagon device in which a utility unit module is transported to a construction site, a large number of utility unit modules are aligned in a longitudinal direction in accordance with construction, So that the lift can be operated.
  • the auto-wagon device includes a lower plate 10; And an upper plate (20) raised or lowered from the lower plate (10)
  • the upper plate 20 is characterized in that a plurality of direction changing and feeding wheels 21 are arranged on the upper side thereof.
  • the direction changing and conveying wheels 21 are formed by threaded gears and are inclined in the width direction so that the racks R supported on the upper side of the upper plate 20 are moved and changed in direction .
  • the lower plate 10 is provided with a drive wheel 11 which receives power from a drive wheel motor 11a and acquires directionality from the steering device 11b and a drive wheel 11 for driving the lower plate 10 And a support wheel (12) composed of a caster having a plurality of wheels to assist.
  • the lower plate 10 includes a battery 30 for power supply, a spiral drive motor 40 driven by the power supplied from the battery 30,
  • the shaft 50 is connected to the other end of the shaft 50.
  • the shaft 50 is connected to the other end of the shaft 50 and is lifted or lowered by a driving force transmitted from the shaft 50.
  • Each end of the shaft 50 is connected to the lower plate 10,
  • a spiral lift 60 fixed to the lower plate 10 and the upper plate 20 so that the ends are fixed to the lower plate 10 and the upper plate 20 so as to prevent the upper plate 20 from shaking when the upper plate 20 is raised or lowered 70, and a main control panel 80 for performing a radio relay function, an inverter function, and an operation signal input function.
  • the shaft 50 is connected to the outer circumferential surface of the spiral lift 60 so that the spiral lift 60 is rotated by the rotational force applied from the spiral drive motor 40, ) Is raised or lowered.
  • the upper plate 20 is hollow and the auxiliary frame 22 is included therein and the direction changing and feeding wheel 21 is connected to the auxiliary frame 22 and the upper plate 20
  • the upper plate 22 can be easily repaired even if the upper plate 22 is worn out by forming a hole in the area corresponding to the wheel 21 for converting and conveying the square.
  • A mounting a rack (R) on the upper side of the upper plate; (b) transferring the rack (R) to a construction site after mounting; (c) aligning the auto-wagon device to the construction site after transfer to the construction site; (d) combining, after alignment, a utility unit module mounted to the rack (R); (e) raising the spiral lift after coupling the utility unit module; And (f) raising the spiral lift and then performing the construction and completing.
  • the above-described auto-wagon device is controlled so as to be automatically aligned in a state of supporting the plurality of pipe racks R, while transporting the pipe racks R to the installation position on the basis of the control signal of the main control panel 80 .
  • the automatic wagon device is controlled to raise the plurality of pipe racks R collectively based on the control signal of the main control panel 80.
  • the utility unit module to be constructed can be conveniently carried from the supply source (transportation vehicle, etc.) to the construction site, It is possible to arrange a large number of utility unit modules to be assembled, and a large amount of utility unit modules can be assembled (joined) and thereafter, the utility unit modules can be elevated in a lump.
  • FIG 1 shows an elevation of an upper plate in an auto-wagon device according to the present invention.
  • FIG. 1A is a top plan view of an upper plate in an auto-wagon device according to the present invention.
  • FIG. 2 is a view showing that the upper plate is lowered in the auto-wagon apparatus according to the present invention.
  • FIG. 3 is a view of the auto-wagon device of FIG. 1 viewed from one side.
  • FIG. 4 shows an auto wagon device of FIG. 2 viewed from one side.
  • Fig. 5 is a view of the auto-wagon device of Fig. 1 viewed from a front side in a direction perpendicular to one side surface.
  • Fig. 6 is a front view of the auto-wagon device of Fig. 2 taken in a direction perpendicular to one side.
  • FIG. 7 shows an example in which a rack R is mounted on the auto-wagon device according to the present invention.
  • the present invention relates to an auto-wagon device, a control method of the device, and a construction method using the device.
  • an auto wagon device capable of causing a large number of utility unit modules to be aligned in the longitudinal direction after the utility unit module is transported to a construction site, and being capable of being lifted in a lump, And a construction method using the apparatus.
  • the upper plate 20 is configured to be raised or lowered from the lower plate 10.
  • the lower plate 10 is provided with a battery 30 for power supply, a spiral drive motor 40 driven by the power supplied from the battery 30,
  • the shaft 50 is connected to the other end of the shaft 50.
  • the shaft 50 is connected to the other end of the shaft 50 and is lifted or lowered by a driving force transmitted from the shaft 50.
  • Each end of the shaft 50 is connected to the lower plate 10,
  • a spiral lift 60 fixed to the lower plate 10 and the upper plate 20 so that the ends are fixed to the lower plate 10 and the upper plate 20 so as to prevent the upper plate 20 from shaking when the upper plate 20 is raised or lowered 70, and a main control panel 80 that performs a radio relay function, an inverter function, and an operation signal input function.
  • the spiral lift 60 has a spiral outer peripheral surface.
  • a shaft 50 connected to the spiral driving motor 40 is connected to the outer peripheral surface of the spiral lift 60.
  • the shaft 50 is rotated by the spiral drive motor 40 to drive the spiral lift 60 so that the spiral lift 60 can be raised or lowered.
  • the outer surface of the spiral lift 60 is covered, thereby improving the aesthetics of the spiral lift 60 formed in a spiral shape.
  • a plurality of driving wheels 11 may be formed at a lower edge of the lower plate 30 on one side of the corner area of the lower plate 30.
  • the driving wheel 11 receives a control signal from the main control panel 80 to move the auto-wagon device according to the present invention.
  • the driving wheel 11 receives the power from the driving wheel motor 11a connected to the lower plate 10 and acquires the directionality by the steering device 11b receiving the control signal from the main control panel 80 can do.
  • auxiliary wheels 12 may be formed at a predetermined distance on one side of the lower surface of the lower plate 30.
  • the auxiliary wheel 12 is constituted by a caster constituted by three wheels, and serves to assist in switching the direction of the auto-wagon device according to the present invention.
  • a plurality of direction changing and conveying wheels 21 can be arranged on the upper side of the upper plate 20.
  • the turning and conveying wheel 21 is configured to be partially fixed to the upper plate 20 via the shaft and configured to be rotated in accordance with an external force by being inserted from the upper surface of the upper plate 20 and configured to expose the remaining portion .
  • This turning and conveying wheel 21 is configured to rotate the rack R on the upper plate 20 while helping the rack R to be conveyed when the rack R described later is supported by the upper plate 20 Function.
  • the direction changing and conveying wheels 21 are formed of gears having wide threads formed as shown in the accompanying drawings, and are configured to be inclined in the width direction.
  • each of the plurality of direction changing and conveying wheels 21 may be configured so that their inclined directions are opposite to each other, or between two adjacent ones located on the center side with respect to the longitudinal direction of the upper plate 20,
  • the direction of inclination is opposite to that of the direction changing and conveying wheels formed on the outside thereof, and they can be configured to have the same inclined direction.
  • the upper plate 20 may be configured as a frame having a hollow interior, and may include an auxiliary frame 22 therein.
  • the strength and the supporting force of the upper plate 20 are increased by the auxiliary frame 22, and the auxiliary frame 22 is preferably made of a material having a predetermined strength.
  • the direction changing and conveying wheels 21 are connected to the auxiliary frame 22 by the axes and the upper and lower frames 21, 20 may be formed.
  • the main control panel 80 performs a radio relay function, an inverter function, and an operation signal input function as described above. Specifically, the main control panel 80 communicates with an external terminal to perform specific notifications, Function as an operation unit, and can be configured to directly input a control signal.
  • the auxiliary device 70 is formed in the shape of a letter 'A', and two ends of the auxiliary device 70 are formed in the X- And the spiral lift 60 may be configured to move at a predetermined interval by the upper plate 20.
  • the guiding structure is a structure that can be moved at regular intervals by a guide structure.
  • the guiding structure is a structure that can be predicted by a person skilled in the art.
  • a guiding groove is formed on the bottom surface of the upper plate 20, and each of the spiral lifts 60 Means that the guide groove can be guided without falling into the guide groove, and the guide groove is formed in the longitudinal direction of movement.
  • the upper plate 20 can be slightly moved in the lateral direction while being raised, thereby effectively helping fine alignment of the rack R supported by the upper plate 20 .
  • the auto-wagon device is configured such that the rack R is transferred to the construction site while supporting the rack R on the upper side of the upper plate 20, The spiral lift 60 can be raised to start the construction.
  • the construction method using the auto-wagon device according to the present invention is as follows.
  • Such a construction method can be referred to FIG. 7 and is possible through a sensor S configured in the lower plate 10, as shown in FIGS. 1 to 6, It is enough to adopt a sensor, but can perform the function of object detection in the front.
  • the above-described alignment can be achieved by providing the sensor S on one side of the lower plate 10,
  • the auto-wagon device must be aligned in the direction of alignment when aligning, because there must be no error in the connection of the pipe in the rack (R).
  • one signal output sensor is provided on one side of the lower plate 10 of the auto-wagon device, each of which is configured to output a signal (laser or the like) in the same direction, And a signal receiving diode can be formed on one side.
  • a plurality of signal receiving diodes are also provided in the corner areas, respectively, and are configured to have receiving directions capable of receiving signals in the same direction.
  • the auto-wagon device can be controlled according to the control signal in the following manner.
  • the step of controlling the alignment is a step in which the auto-wagon device is aligned and controlled in accordance with the control signal.
  • the step of determining whether a signal is input to the two signal receiving diodes is a step of determining whether two signals output from the two signal output sensors are all acknowledged through the plurality of signal receiving diodes .
  • a plurality of signal receiving diodes are provided at one corner as described above, and are provided at two corners, respectively,
  • the step of controlling alignment is performed again in the step of determining whether a signal is inputted to the two signal receiving diodes.
  • the step of completing the alignment is a step of completing the alignment control when it is determined that both signals are input in the step of determining whether a signal is inputted to the two signal receiving diodes.
  • the auto-wagon device can be elevated while holding a plurality of spiral lifts 60 formed in a plurality of aligned bottom plates 10 at the same time.
  • main control panel 80 may be configured to stop operation if a full lift is not achieved.
  • the step of controlling the spiral lift is a step of raising the respective spiral lifts 60 of the n automatic wagon devices and raising and controlling them.
  • each spiral lift 60 is provided with an output sensor for outputting a signal and a reception sensor for receiving a signal.
  • a signal output from an output sensor provided in one spiral lift 60 may be received
  • the other adjacent spiral lift (60) is provided with a receiving sensor, and the other side is provided with an output sensor.
  • the receiving sensor is provided in another spiral lift 60 adjacent thereto.
  • the adjacent meanings may mean a spiral lift 60 that is adjacent to one lower plate 10 in the longitudinal direction or the width direction with respect to each other, or may be a spiral lift 60 adjacent to the one lower plate 10 And may mean the spiral lift 60 configured in the lower plate 10.
  • the distance range of the signal output from the output sensor should be such that it can reach between the auto-wagon devices with reference to FIG.
  • the step of determining whether a signal has been inputted in all of the n spiral lifts is a step of judging whether or not a signal output from the output sensor is being received by the receiving sensor, with respect to the above-described structure, with respect to n spiral lifts 60.
  • the step of controlling the spiral lift continues and ends.
  • the emergency stopping step is carried out when the signal from the receiving sensor is not input to any one of the spiral lifts 60 to the main control panel 80 And an emergency stop is performed.
  • the main control panel 80 of all the auto-wagon devices is configured to be interlocked with the auto-wagon device, and may be controlled by a separately provided server.
  • the step of determining whether there is a signal input from the vertically arrayed sensor for the n spiral lifts is a step performed after the emergency stop step and it is judged whether there is a cylinder which is continuously ascending controlled despite the emergency stop control.
  • the output sensor is configured to output a signal again after the emergency stop. If there is at least one signal input from the vertically arrayed sensor, the spiral lift 60 can not detect the emergency stop control due to an error It is operating continuously.
  • the spiral lift 60 is continuously controlled in spite of the emergency stop control.
  • the step of interrupting the energy supply of the spiral lift which is determined to be the current step, is a step of interrupting the supply of energy to the spiral lift 60 which is continuously controlled.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Structural Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Handcart (AREA)

Abstract

La présente invention concerne un dispositif de wagon automatique, un procédé de commande pour le dispositif et un procédé de construction utilisant le dispositif. En particulier, la présente invention concerne : un dispositif de wagon automatique apte à permettre à des unités de module utilitaire d'être correctement ajustées et alignées dans le sens de la longueur pour une construction après le transport des unités de module utilitaire vers un site de construction, et à permettre à toutes les unités de module utilitaire d'être levées uniformément après assemblage (accouplement) de chaque unité; un procédé de commande pour le dispositif; et un procédé de construction utilisant le dispositif.
PCT/KR2018/008163 2017-12-12 2018-07-19 Dispositif de wagon automatique, procédé de commande destiné à un dispositif et procédé de construction utilisant le dispositif WO2019117416A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
SG11202003311YA SG11202003311YA (en) 2017-12-12 2018-07-19 Auto wagon device, control method for device, and construction method using device

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR1020170169961A KR101852773B1 (ko) 2017-12-12 2017-12-12 오토 왜건 장치, 상기 장치의 제어 방법 및 상기 장치를 이용한 시공방법
KR10-2017-0169961 2017-12-12

Publications (1)

Publication Number Publication Date
WO2019117416A1 true WO2019117416A1 (fr) 2019-06-20

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PCT/KR2018/008163 WO2019117416A1 (fr) 2017-12-12 2018-07-19 Dispositif de wagon automatique, procédé de commande destiné à un dispositif et procédé de construction utilisant le dispositif

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KR (1) KR101852773B1 (fr)
SG (1) SG11202003311YA (fr)
WO (1) WO2019117416A1 (fr)

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KR102351056B1 (ko) * 2021-10-26 2022-01-13 (주)정도 고하중 고변위 자율주행 운송리프팅 장치 및 상기 장치를 이용한 시공방법
KR102609015B1 (ko) * 2023-01-13 2023-12-06 (주)정도 Hollow-core slab 및 저하중 slab 건축 구조물의 스마트 모듈러 공법
KR102619852B1 (ko) * 2023-06-20 2024-01-04 주식회사 더하임 사면 구조의 시저스 리프트와 그에 대한 변형 방지 장치
KR102616121B1 (ko) 2023-06-21 2023-12-20 (주)정도 스마트 리프팅 로봇과 ai영상분석을 활용한 osc 시공방법

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JPH069037A (ja) * 1992-06-26 1994-01-18 Toshiba Ceramics Co Ltd 運搬台車
KR100747158B1 (ko) * 2006-08-22 2007-08-07 현대자동차주식회사 드롭 리프트
KR101466590B1 (ko) * 2014-07-01 2014-11-28 주식회사 세보엠이씨 사전 배관형 랙 모듈 및 이를 이용한 클린룸 시공방법
KR20160063830A (ko) * 2014-11-27 2016-06-07 고광민 자동 이송대차
KR101710031B1 (ko) * 2015-10-08 2017-03-13 주식회사 세보엠이씨 랙모듈 상하차용 리프트 및 상차 방법

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KR101691489B1 (ko) * 2015-06-23 2016-12-30 삼성물산 주식회사 배관모듈 및 배관모듈의 설치방법

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH069037A (ja) * 1992-06-26 1994-01-18 Toshiba Ceramics Co Ltd 運搬台車
KR100747158B1 (ko) * 2006-08-22 2007-08-07 현대자동차주식회사 드롭 리프트
KR101466590B1 (ko) * 2014-07-01 2014-11-28 주식회사 세보엠이씨 사전 배관형 랙 모듈 및 이를 이용한 클린룸 시공방법
KR20160063830A (ko) * 2014-11-27 2016-06-07 고광민 자동 이송대차
KR101710031B1 (ko) * 2015-10-08 2017-03-13 주식회사 세보엠이씨 랙모듈 상하차용 리프트 및 상차 방법

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SG11202003311YA (en) 2020-06-29

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